Mobile Manipulator Wheel Loads

バージョン 1.0.0 (1.32 MB) 作成者: Goran Petrovic

4-wheeled mobile manipulator simulation with the wheel normal forces in focus

https://ieeexplore.ieee.org/document/9762293

フォロー

5.0

(1)

ダウンロード: 115

更新 2022/3/20

GitHub でライセンスを表示

Analytic Solutions For Wheeled Mobile Manipulator Supporting Forces

The repository contains Simulink model and MATLAB code for calculation of the supporting forces in 4-wheeled mobile manipulator per the proposed approach in:

https://ieeexplore.ieee.org/document/9762293

Requirements

The simulation is performed in MATLAB/Simulink. Simulink Simscape Multibody Add-On libraries are required and MATLAB version 2020a or newer.

Usage

Make the main folder as a working folder, initialize simulation parameters running the .m files and run the .slx model.

Licence

See LICENSE.txt for licencing information.

Find it also at MATLAB Central File Exchange

Acknowledgement

Credit for the manipulator arm CAD models goes to Dr Janne Koivumäki.

Check out his list of publications https://scholar.google.fi/citations?user=Llrx-nsAAAAJ&hl=fi

引用

Petrovic, Goran R., and Jouni Mattila. “Analytic Solutions for Wheeled Mobile Manipulator Supporting Forces.” IEEE Access, vol. 10, Institute of Electrical and Electronics Engineers (IEEE), 2022, pp. 43235–55, doi:10.1109/access.2022.3169766.

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MATLAB リリースの互換性

作成: R2021b

R2020a 以降のリリースと互換性あり

プラットフォームの互換性

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ヒントを得たファイル: MATLAB and Simulink Racing Lounge: Vehicle Modeling with Simscape Multibody

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バージョン	公開済み	リリースノート
1.0.0	2022/3/20		ダウンロード

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MLA	Petrovic, Goran R., and Jouni Mattila. “Analytic Solutions for Wheeled Mobile Manipulator Supporting Forces.” IEEE Access, vol. 10, Institute of Electrical and Electronics Engineers (IEEE), 2022, pp. 43235–55, doi:10.1109/access.2022.3169766.
APA	Petrovic, G. R., & Mattila, J. (2022). Analytic Solutions for Wheeled Mobile Manipulator Supporting Forces. IEEE Access, 10, 43235–43255. Institute of Electrical and Electronics Engineers (IEEE). Retrieved from https://doi.org/10.1109%2Faccess.2022.3169766
BibTeX	@article{Petrovic_2022, doi = {10.1109/access.2022.3169766}, url = {https://doi.org/10.1109%2Faccess.2022.3169766}, year = 2022, publisher = {Institute of Electrical and Electronics Engineers ({IEEE})}, volume = {10}, pages = {43235--43255}, author = {Goran R. Petrovic and Jouni Mattila}, title = {Analytic Solutions for Wheeled Mobile Manipulator Supporting Forces}, journal = {{IEEE} Access} }